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* Optimal feedback control (OFC) OFC, proposed by Todorov & Jordan (2002) gives sensory feedbacks to guide and correct movements. Recent research added that trajectory selection process involves OFC, which tries to minimise cost of the ongoing motion such as effort, accuracy and probabilistic success on top of the local optimisation of limb segments, especially when performing under uncertainty. This model explains that movements are continuously guided and corrected by the OFC that occur simultaneously as execution, and muscle commands

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